Robust Adaptive Output-Feedback Dynamic Surface Control of a Class of Nonlinear Systems with Unmodeled Dynamics

This paper presents a robust adaptive output‐feedback dynamic surface control (DSC) for a class of nonlinear systems with unmodeled dynamics or/and uncertain time‐varying disturbances. Based on traditional K‐filters, the proposed adaptive DSC scheme is able to guarantee semi‐global stability of the closed‐loop system without applying any approximation techniques. The adaptive law is necessary only at the first design step, which, together with the introduction of a first‐order filter at each design step, makes the control law easy to implement. Moreover, it is shown that the tracking error can converge to an arbitrarily small residual set by adjusting only one design parameter.